ROS2 introductory tutorial -windows installation ROS2

ROS2 introductory tutorial -windows installation ROS2

ROS2 introductory tutorial -windows installation ROS2

Description:

• It describes how to install under Windows system ROS2

System Requirements

• Recommended win 10 system

Premise installation ROS2 preparations

• 1. Install chocolate

• Download Links Chocolatey of: HTTPS : //chocolatey.org/

• 2. Install Python by Chocolatey

• Open a command prompt and type the following command:

choco install -y python

• 3. Install OpenSSL

• From the link provided below to download OpenSSL installer. Please download Win64 OpenSSL v1.0.2, do not download or Light Win32 version.

• OpenSSL Links: HTTPS : //slproweb.com/products/Win32OpenSSL.html

• Run the installer with default parameters. Then, define environment variables (the following command assumes the default installation directory):

setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

#Add C:\OpenSSL-Win64\bin\ to your PATH

• 4. Install Visual Studio Community 2015

• Visual Studio Community Downloads Links 2015: HTTPS : //www.visualstudio.com/vs/older-downloads/

• Be sure to install the desired function.

• 5. Install DDS supplier

• Binary packages will eProsima FastRTPS and Adlink OpenSplice as middleware together. To use a different DDSvendor, you will need from the source to start building.

• eProsima FastRTPS & Boost (only for beta-1 and earlier)

  • FastRTPS需要boost作为依赖。要安装它，请在此处从SourceForge获取相应的安装程序。我们测试这个二进制文件。

  • 其默认安装到C:\local。然后需要添加以下系统环境变量：PATH=C:\local\boost_1_61_0\lib64-msvc-14.0

• Adlink OpenSplice

  • 如果想要使用OpenSplice，你需要下载最新版本（最低要求版本为6.7.170912）

  • OpenSplice的相关下载链接：https：//github.com/ADLINK-IST/opensplice/releases/tag/OSPL_V6_7_171127OSS_RELEASE

• 6.安装OpenCV

• OpenCV的相关下载链接：https：//github.com/ros2/ros2/releases/download/release-beta2/opencv-2.4.13.2-vc14.VS2015.zip

• PATH环境变量设置： c:\dev\opencv-2.4.13.2-vc14.VS2015\x64\vc14\bin

• 7.安装依赖项

• 请从这个GitHub存储库下载这些软件包。

  • asio.1.10.6.nupkg

  • 本征3.3.3.nupkg

  • TinyXML的-usestl.2.6.2.nupkg

  • tinyxml2.4.1.0.nupkg

• 下载完成后，执行以下命令：

choco install -y -s <PATH\TO\DOWNLOADS\> asio eigen tinyxml-usestl tinyxml2

# <PATH\TO\DOWNLOADS>为已下载软件包的文件夹的对应路径

• 您还必须安装pip一个python包，yaml：

python -m pip install -U pyyaml setuptools

下载ROS2

• Download Links ROS2 of: HTTPS : //github.com/ros2/ros2/releases

• Download the latest software package for Windows, for example ros2-package-windows-AMD64.zip.

  • Note: There may be multiple download binary options may lead to a different file name.

• Unzip the zip file (we assume C:\dev\ros2).

Set ROS2 environment

• Execute the following command and source RO2 configuration file to set the workspace

call C:\dev\ros2\local_setup.bat

• If you have downloaded a version of OpenSplice support and hope to use it as middleware, you must obtain additional OpenSplice installation files. The only wayafter you can get ROS 2:

call "C:\opensplice67\HDE\x86_64.win64\release.bat"

Try some examples

• Open a terminal, execute the following command:

ros2 run demo_nodes_cpp talker

• Open a new terminal, execute the following command:

ros2 run demo_nodes_py listener

• FIG operating results as follows:

Troubleshooting

• If you can not run the examples and the lack of dll error occurs, all external dependencies in front of the library, please check the installation, such as: OpenCV the PATHenvironment variable is set correctly

• If you forget to do when you set the previous call C:\dev\ros2\local_setup.batcommand, you may not be able to run the demo

Reference links

• https://github.com/ros2/ros2/wiki/Windows-Install-Binary
• http://blog.csdn.net/weixin_38294178/article/details/78844744